Mobile Robot Manipulator Model 1

Zobov x USM engender the new gesamtkunstwerk of collaborative robotics

ゾボフ移動ロボットモデル一

Zobov Mobile Robot Model 1 is our gesamtkunstwerk of collaborative robotics. Our robot is an autonomous mobile robot with a 5-axis robot-arm based on a two-wheeled drive platform, equipped with a 3D robot-vision system. Designed especially for Eurobot 2019 competition, it is pushing the edge of engineering. In brief, the task of the competition is creating a robot, that can pick up, transport and deliver pucks automatically. Zobov Mobile Robot Model 1 completely fulfilled the task and, moreover, we made it location-independent, highly flexible and compact aiming for in-house transportation, automated data collection, and personal robotics applications.

The robot's software is built on a rock-solid Debian foundation. In order to create a high-performance system, we incorporated the Robot Operating Systems for the greatest modularity and complex autonomous behavior.

Thanks to the latest laser-scanner tech, Zobov Mobile Robot Model 1 is highly sensitive to its environment. The robot navigates safely and reacts immediately if detects any person or object in its way. When the robot meets an obstacle, it automatically rounds it. The navigation system is based on Hokyuo laser-scanner, robust wheels odometry and the custom blend of localisation and path planning algorithms.

Zobov Mobile Robot Model 1 is equipped with the 5-axis robot-arm for pick-and-place tasks. Each joint is driven by DC-servomotors and the end joint is equipped with a vacuum gripper. The adaptive manipulation capabilities and the functionality of the arm are extended by the robot-vision system. The vision system is implemented using an Intel RealSense D435 3D camera, some tailored algorithms and OpenCV. The system allocates pucks in the image of the RGB-Depth camera with processing the depth information and fusing all the data. The system thus allows the robot to figure out the actual distance to the puck and does not only compensates the inaccuracy of positioning the robot relatively to the puck but also allows the robot search for randomly located pucks.

In laudem principis tenebrarum

The color touchscreen display allows to review current robot objectives and to monitor its current state including the error codes.

The Zobov Peripheral controller model 2 enables seamless high-speed connectivity via Ethernet with the robot's control system. The board is based on high-performance ARM Cortex-M4 microcontroller. Its main task is providing reliable feedback from the independent wheels' encoders and other sensors.

The power system was redesigned to achieve impressive power efficiency due to packing this much power into the same enclosure required an all-new thermal architecture. We optimized inner-case airflow and designed new DC-DC converters and also took into account the EMI effects. That's why the boards of the power system provide protection according to the standard EN55022 class A. The whole system is supplied with power from LiFePO₄ batteries.

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Zobov Mobile Robot Model 1

Type

Mobile platform

Two-wheeled mobile robot

Arm

5-axis robot-arm with 200 mm reach and vacuum gripper

Size and Weight

Dimensions

400 x 320 x 350 mm

Mass

8 kg

Speed and Performance

Payload

2 kg

Turning radius

0 mm

Maximum Speed

1.0 m/s

Suspension

Fixed

Positional Accurancy

+/- 15 mm

Battery and Power System

Battery Run Time

40 minutes

Charge:Run Ratio

1:4

Sensors

LIDAR

Hokyuo scanning laser rangefinders front and back scanners provide 360° vision and send data to the localization engine

3D camera

Intel RealSense D435 for part localisation and identification

Interfacing

I/O

1Gb Ethernet

Wi-Fi

Full-featured 802.11ac